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3D object pose detection using foreground/background segmentation

Antoine Petit 1, 2 Eric Marchand 2 Rafiq Sekkal 2 Keyvan Kanani 3 
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : — This paper addresses the challenge of detecting and localizing a poorly textured known object, by initially estimating its complete 3D pose in a video sequence. Our solution relies on the 3D model of the object and synthetic views. The full pose estimation process is then based on foreground/background segmentation and on an efficient prob-abilistic edge-based matching and alignment procedure with the set of synthetic views, classified through an unsupervised learning phase. Our study focuses on space robotics applications and the method has been tested on both synthetic and real images, showing its efficiency and convenience, with reasonable computational costs.
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Submitted on : Monday, March 2, 2015 - 11:06:59 AM
Last modification on : Monday, June 27, 2022 - 3:02:14 AM
Long-term archiving on: : Tuesday, June 2, 2015 - 9:32:01 AM


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  • HAL Id : hal-01121583, version 1


Antoine Petit, Eric Marchand, Rafiq Sekkal, Keyvan Kanani. 3D object pose detection using foreground/background segmentation. IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States. ⟨hal-01121583⟩



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